Add MH110 support (predecessor of GP110 with DX200 controller)

[cjue]

As far as the datasheets tell MH110 and GP110 are identical except for some kg of total weight and DX200 vs YRC1000 controller.

The URDF references the GP110 meshes for the collision models, and package.xml lists motoman_gp110_support as a dependency.

@EricMarcil Could you please check if the joint effort limits are the same for GP110 and MH110?

I couldn't find any 3D CAD model for the MH110, but it appears to be identical to the GP110.

This MR build upon #476

[EricMarcil]

@cjue The robot 3D model are identical. There is a slight different for the effort on some axis. See attached file: Robot_Specs_MH110-A0.csv

[cjue]

Thanks, I updated all the values. The support package should be complete then.

[gavanderhoorn]

Just realised the squash-merge in #476 made merging this a bit more difficult.

@cjue: you should be able to drop just about every commit here, and squash e092b34 & fbc8857 together.

[cjue]

Rebased onto kinetic-devel after #476 merge.

I updated the package.xml regarding the differences of MH110/GP110. Unfortunately I couldn't find any official Yaskawa URLs or downloads for the MH110.

[gavanderhoorn]

Unfortunately I couldn't find any official Yaskawa URLs or downloads for the MH110.

If you search for motoman MH110, you'll end up on the Yaskawa Motoman product documentation site. That lists HW1482741 as the MOTOMAN-MH110 INSTRUCTIONS manual (169859-1CD), which lists the Basic Specifications of this particular robot in section 5.1:

[gavanderhoorn]

Using squash-merge again here to avoid fixups getting into the repository history.

[gavanderhoorn]

Thanks @cjue :+1: